version: 66.08
glider: 141
mission: 15
dive: 14
start: 2 21 111 3 25 27
data:
$ID,141
$MISSION,15
$DIVE,14
$N_DIVES,0
$D_SURF,3
$D_FLARE,5
$D_TGT,990
$D_ABORT,1050
$D_NO_BLEED,50
$D_BOOST,3
$T_BOOST,0
$D_FINISH,9
$D_PITCH,1.75
$D_SAFE,500
$D_CALL,3
$SURFACE_URGENCY,10
$SURFACE_URGENCY_TRY,5
$SURFACE_URGENCY_FORCE,10
$T_DIVE,330
$T_MISSION,400
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,-3
$USE_ICE,2
$ICE_FREEZE_MARGIN,0.1
$D_OFFGRID,250
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51684
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,100
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,5
$TGT_DEFAULT_LAT,6000
$TGT_DEFAULT_LON,-5500
$TGT_AUTO_DEFAULT,0
$SM_CC,400
$N_FILEKB,4
$FILEMGR,2
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,5
$CALL_TRIES,3
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,3
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-22027.951
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,110
$PITCH_MAX,3900
$C_PITCH,2870
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031256729
$P_OVSHOOT,0.039999999
$PITCH_GAIN,40
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,2
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,1
$ROLL_MIN,256
$ROLL_MAX,3943
$ROLL_DEG,40
$C_ROLL_DIVE,2450
$C_ROLL_CLIMB,2225
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,25
$R_STBD_OVSHOOT,26
$ROLL_AD_RATE,325
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,751
$VBD_MAX,4040
$C_VBD,3030
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,150
$AH0_10V,110
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-33.184971
$PRESSURE_SLOPE,0.0001160265
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,20
$ALTIM_BOTTOM_TURN_MARGIN,15
$ALTIM_TOP_TURN_MARGIN,5
$ALTIM_TOP_MIN_OBSTACLE,25
$ALTIM_PING_DEPTH,300
$ALTIM_PING_DELTA,50
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,4
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,133
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,32
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0042907749
$SEABIRD_T_H,0.0006300722
$SEABIRD_T_I,2.4342404e-05
$SEABIRD_T_J,2.663412e-06
$SEABIRD_C_G,-9.8752003
$SEABIRD_C_H,1.1299734
$SEABIRD_C_I,-0.00041852854
$SEABIRD_C_J,0.00012689357
$GPS1,210211,031958,6706.104,-5658.469,12,99.0,31,-37.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-70.1
$GPS2,210211,032456,6706.135,-5658.382,11,1.2,11,-37.6
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,TARGET_W
$TGT_LATLONG,6644.000,-6026.000
$TGT_RADIUS,10000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,292.5,157320,-17.5,-10.000
$D_GRID,517
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.62,-146.0,0.0,0.0,0,186,0.00,0.00,-167.82,0.000,2,0.000,0.000,109,2454,3569,0,0,0,0,0,0
$GC,189,-0.62,-146.0,5.7,-12.6,29,209,12.60,2.33,-1.12,0.000,4,0.332,0.086,2656,3867,3627,0,0,0,0,0,0
$GC,322,-0.54,-146.0,40.8,-17.2,52,330,0.15,2.25,0.00,0.000,6,0.213,0.053,2691,2439,3628,0,0,0,0,0,0
$GC,670,-0.50,-146.0,87.3,-12.9,113,676,0.00,2.22,0.00,0.000,4,0.000,0.067,2691,1039,3628,0,0,0,0,0,0
$GC,700,-0.47,-146.0,91.5,-13.3,118,707,0.00,2.28,0.00,0.000,6,0.000,0.065,2691,2449,3628,0,0,0,0,0,0
$GC,1035,-0.47,-146.0,130.9,-11.4,155,1036,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2450,3627,0,0,0,0,0,0
$GC,1356,-0.47,-146.0,164.3,-9.9,185,1360,0.00,2.30,0.00,0.000,4,0.000,0.082,2691,3860,3626,0,0,0,0,0,0
$GC,1394,-0.50,-146.0,168.5,-10.5,188,1401,0.00,2.22,0.00,0.000,6,0.000,0.053,2691,2449,3626,0,0,0,0,0,0
$GC,1720,-0.50,-146.0,199.0,-9.1,219,1724,0.00,2.22,0.00,0.000,4,0.000,0.067,2691,1036,3625,0,0,0,0,0,0
$GC,1771,-0.53,-146.0,203.9,-9.2,223,1775,0.00,2.25,0.00,0.000,6,0.000,0.063,2691,2450,3626,0,0,0,0,0,0
$GC,2103,-0.56,-146.0,233.6,-8.9,254,2107,0.00,2.28,0.00,0.000,4,0.000,0.078,2691,3854,3626,0,0,0,0,0,0
$GC,2191,-0.61,-146.0,241.7,-8.9,261,2198,0.00,2.17,0.00,0.000,6,0.000,0.050,2691,2440,3626,0,0,0,0,0,0
$GC,2518,-0.64,-146.0,269.9,-8.4,292,2519,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2440,3627,0,0,0,0,0,0
$GC,2836,-0.68,-146.0,296.8,-8.5,322,2841,0.12,2.30,0.00,0.000,4,0.132,0.075,2650,3859,3628,0,0,0,0,0,0
$GC,2876,-0.62,-146.0,301.2,-11.6,325,2880,0.00,2.17,0.00,0.000,6,0.000,0.049,2650,2450,3628,0,0,0,0,0,0
$GC,3202,-0.54,-146.0,341.1,-12.7,355,3203,0.17,0.00,0.00,0.000,6,0.217,0.000,2693,2450,3629,0,0,0,0,0,0
$GC,3521,-0.57,-146.0,370.1,-8.8,385,3525,0.00,2.28,0.00,0.000,4,0.000,0.076,2692,3860,3630,0,0,0,0,0,0
$GC,3604,-0.63,-146.0,377.8,-9.0,392,3611,0.00,2.17,0.00,0.000,6,0.000,0.049,2692,2439,3630,0,0,0,0,0,0
$GC,3929,-0.67,-146.0,408.1,-9.4,423,3934,0.12,2.33,0.00,0.000,4,0.127,0.075,2650,3863,3631,0,0,0,0,0,0
$GC,3980,-0.63,-146.0,414.0,-12.3,427,3984,0.00,2.17,0.00,0.000,6,0.000,0.049,2650,2446,3631,0,0,0,0,0,0
$GC,4311,-0.57,-146.0,454.9,-12.4,458,4313,0.12,0.00,0.00,0.000,6,0.227,0.000,2678,2445,3631,0,0,0,0,0,0
$GC,4631,-0.57,-146.0,485.5,-10.0,488,4632,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2445,3631,0,0,0,0,0,0
$STATE,4702,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4702,begin apogee
$GC,4707,-0.12,0.0,492.4,9.3,495,4831,0.47,0.00,118.32,1.162,6,0.182,0.000,2823,2219,3030,0,0,0,0,0,0
$STATE,4832,end apogee,CONTROL_FINISHED_OK
$STATE,4832,begin climb
$GC,4834,0.62,146.0,496.3,0.0,506,4963,0.77,0.00,121.95,1.144,6,0.135,0.000,3059,2218,2433,0,0,0,0,0,0
$GC,5280,0.54,146.0,447.9,12.5,548,5284,0.00,2.35,0.00,0.000,4,0.000,0.070,3059,3631,2425,0,0,0,0,0,0
$GC,5314,0.42,146.0,443.0,14.0,551,5319,0.22,2.28,0.00,0.000,6,0.188,0.056,3012,2229,2424,0,0,0,0,0,0
$GC,5639,0.44,161.4,411.4,9.3,581,5662,0.00,2.40,12.60,0.976,4,0.000,0.070,3012,3631,2371,0,0,0,0,0,0
$GC,5678,0.44,169.0,407.5,9.7,584,5696,0.00,2.30,8.18,0.915,6,0.000,0.054,3019,2213,2341,0,0,0,0,0,0
$GC,6014,0.46,177.4,374.8,9.6,616,6029,0.00,2.42,8.52,0.913,4,0.000,0.071,3019,3644,2306,0,0,0,0,0,0
$GC,6059,0.43,177.4,369.8,11.8,620,6063,0.00,2.30,0.00,0.000,6,0.000,0.053,3029,2223,2305,0,0,0,0,0,0
$GC,6385,0.43,177.4,335.7,11.0,650,6389,0.00,2.33,0.00,0.000,4,0.000,0.070,3029,3638,2304,0,0,0,0,0,0
$GC,6429,0.39,177.4,330.1,12.9,653,6436,0.15,2.28,0.00,0.000,6,0.195,0.054,3002,2211,2304,0,0,0,0,0,0
$GC,6754,0.47,197.2,300.1,9.1,684,6778,0.00,2.42,17.80,0.986,4,0.000,0.070,3002,3637,2225,0,0,0,0,0,0
$GC,6806,0.50,197.2,294.9,10.2,688,6813,0.00,2.28,0.00,0.000,6,0.000,0.053,3008,2222,2225,0,0,0,0,0,0
$GC,7133,0.56,205.3,263.4,9.6,719,7145,0.12,0.00,8.10,0.876,6,0.112,0.000,3055,2221,2192,0,0,0,0,0,0
$GC,7463,0.53,205.3,220.4,12.7,750,7467,0.00,2.30,0.00,0.000,4,0.000,0.070,3055,3637,2190,0,0,0,0,0,0
$GC,7519,0.47,205.3,212.2,15.3,755,7524,0.15,2.25,0.00,0.000,6,0.186,0.054,3027,2225,2190,0,0,0,0,0,0
$GC,7845,0.49,205.3,176.8,10.2,785,7849,0.00,2.28,0.00,0.000,4,0.000,0.070,3029,809,2189,0,0,0,0,0,0
$GC,7862,0.52,205.3,174.9,10.6,786,7867,0.00,2.25,0.00,0.000,6,0.000,0.057,3029,2228,2188,0,0,0,0,0,0
$GC,8188,0.55,205.3,142.4,10.0,816,8192,0.00,2.25,0.00,0.000,4,0.000,0.069,3029,3635,2188,0,0,0,0,0,0
$GC,8288,0.55,205.3,130.6,11.4,824,8295,0.00,2.22,0.00,0.000,6,0.000,0.050,3037,2218,2188,0,0,0,0,0,0
$GC,8616,0.61,205.3,94.3,12.4,859,8623,0.00,2.22,0.00,0.000,4,0.000,0.067,3041,817,2188,0,0,0,0,0,0
$GC,8630,0.66,205.3,92.8,11.4,861,8637,0.12,2.22,0.00,0.000,6,0.119,0.054,3091,2233,2188,0,0,0,0,0,0
$GC,8977,0.59,205.3,45.9,12.4,922,8983,0.00,2.22,0.00,0.000,4,0.000,0.070,3091,3631,2188,0,0,0,0,0,0
$GC,9166,0.48,205.3,19.6,13.8,955,9174,0.25,2.20,0.00,0.000,6,0.185,0.053,3032,2225,2189,0,0,0,0,0,0
$FREEZE,8.65,-0.126,-1.831,3,1,0
$FREEZE,8.27,-0.160,-1.831,3,1,0
$FREEZE,7.65,-0.175,-1.831,3,1,0
$FREEZE,7.19,-0.170,-1.830,3,1,0
$FREEZE,6.73,-0.170,-1.830,3,1,0
$FREEZE,6.46,-0.181,-1.830,3,1,0
$FREEZE,6.09,-0.184,-1.829,3,1,0
$FREEZE,5.74,-0.185,-1.829,3,1,0
$FREEZE,5.39,-0.185,-1.829,3,1,0
$FREEZE,5.16,-0.190,-1.829,3,1,0
$FREEZE,4.84,-0.189,-1.828,3,1,0
$FREEZE,4.52,-0.183,-1.828,3,1,0
$FREEZE,4.27,-0.185,-1.828,3,1,0
$FREEZE,3.92,-0.186,-1.827,3,1,0
$FREEZE,3.35,-0.177,-1.827,3,1,0
$FREEZE,3.05,-0.185,-1.827,3,1,0
$FREEZE,2.74,-0.179,-1.827,3,1,0
$STATE,9368,end climb,SURFACE_DEPTH_REACHED
$STATE,9368,begin surface coast
$FREEZE,2.30,-0.168,-1.826,3,1,0
$FREEZE,1.87,-0.161,-1.826,3,1,0
$FREEZE,1.35,-0.141,-1.825,3,1,0
$FREEZE,0.82,-0.137,-1.824,3,1,0
$FREEZE,0.87,-0.330,-1.822,3,1,0
$FREEZE,0.94,-0.380,-1.752,3,1,0
$FREEZE,0.82,-0.196,-1.813,3,1,0
$FINISH,0.8,1.026560
$STATE,9408,end surface coast,CONTROL_FINISHED_OK
$STATE,9408,begin surface
$SM_CCo,9424,84.53,0.064,0,0,1398,400.08
$SM_GC,1.75,0.00,0.00,84.53,0.000,0.000,0.064,114,2461,1398,-8.61,0.31,400.08
$RAFOS_CLK,448
$RAFOS,6,1298263748,4.833333,4.818889,134,57,56,53,52,46,756,212,194,145,178,92
$RAFOS,5,1298263269,4.700000,4.685833,81,66,58,58,57,55,604,209,222,165,156,185
$RAFOS,4,1298262791,4.566667,4.553056,68,62,62,57,54,50,817,205,163,220,116,180
$RAFOS,3,1298262302,4.433333,4.417222,66,56,55,52,46,46,206,161,191,218,171,133
$RAFOS,2,1298261831,4.300000,4.286389,67,54,53,53,51,48,202,184,146,212,245,126
$RAFOS,1,1298261347,4.166667,4.151945,61,60,57,52,50,50,152,188,210,177,138,219
$RAFOS,0,1298260867,4.033333,4.018611,66,60,59,57,54,53,164,147,209,218,184,399
$RAFOS_FIX,6708.658691,-5710.915527,210211,040444,3,94,2.15
$IRIDIUM_FIX,6636.54,-5658.34,210211,000018
$TT8_MAMPS,0.026215
$HUMID,45.15
$INTERNAL_PRESSURE,8.58431
$TCM_TEMP,17.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,19.0
$ALTIM_BOTTOM_PING,451.0,56.2
$24V_AH,23.5,5.154
$10V_AH,10.4,2.109
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,23.800,82.425,295.475,84.525,0.000,30.299,17.507,127.480,1.750,0.000,13.812,2409.060,4908.141,550.125,1776.266,187.211,0.000,1407.563,0.000,1573.220,2520.000,15.450,0.000
$DEVICE_MAMPS,332.010,86.445,1162.035,64.260,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,700.770,757.814,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150712
$DATA_FILE_SIZE,40023,999
$CAP_FILE_SIZE,114951,0
$CFSIZE,260165632,251367424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1464.1
$GPS,210211,060546,6707.264,-5702.817,39,1.1,48,-37.7